Commit 28461bab authored by Marco Buttu's avatar Marco Buttu
Browse files

sunCheck() thread tested

parent 01f7d9bd

Common/Servers/PySupervisor/.gitignore

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!bin/

Common/Servers/PySupervisor/bin/supervisor_startcontainers.sh

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#! /bin/bash



ssh -f -l discos manager "/bin/bash --login -c 'acsStartContainer -cpp \

AntennaBossContainer > /dev/null 2>&1 &'"

echo "...AntennaBossContainer!"



ssh -f -l discos manager "/bin/bash --login -c 'acsStartContainer -cpp \

AntennaContainer > /dev/null 2>&1 &'"

echo "...AntennaContainer!"



ssh -f -l discos manager "/bin/bash --login -c 'acsStartContainer -cpp \

ManagementContainer > /dev/null 2>&1 &'"

echo "...ManagementContainer!"



ssh -f -l discos manager "/bin/bash --login -c 'acsStartContainer -cpp \

MountContainer > /dev/null 2>&1 &'"

echo "...MountContainer!"



ssh -f -l discos manager "/bin/bash --login -c 'acsStartContainer -cpp \

WeatherStationContainer > /dev/null 2>&1 &'"

echo "...WeatherStationContainer!"



ssh -f -l discos manager "/bin/bash --login -c 'acsStartContainer -py \

SupervisorContainer > /dev/null 2>&1 &'"

echo "...SupervisorContainer!"

Common/Servers/PySupervisor/bin/supervisor_stopcontainers.sh

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#! /bin/bash



ssh -f -l discos manager "/bin/bash --login -c 'acsStopContainer \

SupervisorContainer > /dev/null 2>&1 &'"

echo "Stopping SupervisorContainer"



ssh -f -l discos manager "/bin/bash --login -c 'acsStopContainer \

WeatherStationContainer > /dev/null 2>&1 &'"

echo "Stopping WeatherStationContainer"



ssh -f -l discos manager "/bin/bash --login -c 'acsStopContainer \

MountContainer > /dev/null 2>&1 &'"

echo "Stopping MountContainer"



ssh -f -l discos manager "/bin/bash --login -c 'acsStopContainer \

ManagementContainer > /dev/null 2>&1 &'"

echo "Stopping ManagementContainer"



ssh -f -l discos manager "/bin/bash --login -c 'acsStopContainer \

AntennaContainer > /dev/null 2>&1 &'"

echo "Stopping AntennaContainer"



ssh -f -l discos manager "/bin/bash --login -c 'acsStopContainer \

AntennaBossContainer > /dev/null 2>&1 &'"

echo "Stoping AntennaBossContainer"

Common/Servers/PySupervisor/src/Supervisor/SupervisorImpl.py

+142 −38
Original line number Diff line number Diff line 
# Marco Buttu <marco.buttu@inaf.it> | Jul 2023

import time

import concurrent.futures

from datetime import datetime as dt

from math import radians, sqrt

from multiprocessing import Queue



from math import sqrt, degrees

from threading import Thread

import ephem



from Antenna__POA import Supervisor as POA
@@ -23,8 +23,6 @@ import Management 
import ComponentErrorsImpl

import ComponentErrors



from IRAPy import logger





class SupervisorEx(Exception):

    pass
@@ -54,18 +52,21 @@ class SupervisorImpl(POA, cc, services, lcycle): 
        services.__init__(self)

        self.dao_path = 'alma/ANTENNA/Supervisor'

        self.setup("default")

        # TODO: the publisher?

        self.stop_threads = False

        for thread in (self.sunCheck, self.windCheck):

            t = Thread(target=thread, daemon=True)

            t.start()



    def initialize(self):

        # addProperty(self, 'status', devio_ref=StatusDevIO())

        pass



    def cleanUp(self):

        self.stop_threads = True

        # self.supplier.disconnect()

        pass



    def setup(self, code):

        logger.logNotice(f"Supervisor.setup({code})")

        self.log(f"Supervisor.setup({code})", Management.C_INFO)

        self.receiverSetup = "unknown"

        self.windAvoidance = "ON"

        self.sunAvoidance = "ON"
@@ -80,7 +81,10 @@ class SupervisorImpl(POA, cc, services, lcycle): 
            self.sunLimit = float(dao.get_field_data("SunLimitDEFAULT"))

            self.receiverSetup = "DEFAULT"

            if code != "DEFAULT":

                logger.logWarning(f"Configuration '{code}' not found")

                self.log(

                    f"Configuration '{code}' not found",

                    Management.C_ERROR,

                )



    def getSetup(self):

        return self.receiverSetup
@@ -97,7 +101,7 @@ class SupervisorImpl(POA, cc, services, lcycle): 
            setattr(self, f"{target}Avoidance", mode)

        else:

            msg = f"mode '{mode}' not in {allowed_modes}"

            logger.logError(msg)

            self.log(msg, Management.C_ERROR)

            exc = ComponentErrorsImpl.NotAllowedExImpl(msg)

            raise exc.getComponentErrorsEx()
@@ -125,46 +129,146 @@ class SupervisorImpl(POA, cc, services, lcycle): 
    def isTracking(self):

        return True



    @staticmethod

    def sunCheck():

    # TODO: fare un metodo/funzione che ottiene il component, passandole

    # il nome del component. Questo serve per il logging e per ogni volta

    # che ci occorre un client



    def windCheck(self):

        while True:

            if self.stop_threads:

                print("Stopping windCheck")

                break

            time.sleep(10)

            print("WIND: windAvoidance: ", self.windAvoidance)

        print("windCheck() stopped")



    def disconnect(self, client):

        try:

            if client.isLoggedIn():

                client.disconnect()

        except Exception as ex:

            self.log(

                "Cannot disconnect the client",

                Management.C_WARNING,

            )



    def log(self, message, level=Management.C_WARNING):

        try:

            print(message)

            logger_name = "MANAGEMENT/CustomLogger"

            client = PySimpleClient()

            logger = client.getComponent(logger_name)

            logger.emitLog(message, level)

        except CannotGetComponentEx as ex:

            print(f"Cannot get {logger_name}")

        except Exception as ex:

            print(f"Unexpected exception in log(): {ex}")

        finally:

            self.disconnect(client)



    def sunCheck(self):

        print("sunCheck() thread started")

        antenna_name = "ANTENNA/Boss"

        mount_name = "ANTENNA/Mount"

        observatory_name = "ANTENNA/Observatory"

        lat, lon = None, None

        obs = ephem.Observer()

        sun = ephem.Sun()

        stop_notified = False

        while True:

            time.sleep(1)

            if self.stop_threads:

                print("Stopping sunCheck() thread")

                break

            if self.sunAvoidance == "OFF":

                continue  # Sleep again



            client = PySimpleClient()

            if not (lat and lon):

                try:

                    observatory = client.getComponent(observatory_name)

                    lat, compl = discos_obs.latitude.get_sync()

                    lon, compl = discos_obs.longitude.get_sync()

                    lat, compl = observatory.latitude.get_sync()

                    lon, compl = observatory.longitude.get_sync()

                except CannotGetComponentEx as ex:

                    print(f"Can not get component {observatory_name}")

                    continue

                    self.log(f"Supervisor can not get {observatory_name}")

                except Exception as ex:

                    print(f"Unexpected exception: {ex}")

                finally:

                    self.disconnect(client)

                    continue  # Sleep again



            try:

                antenna = client.getComponent(antenna_name)

            except CannotGetComponentEx as ex:

                print(f"Can not get component {antenna_name}")

                continue

                self.log(

                    f"Can not get component {antenna_name}",

                    Management.C_ERROR,

                )

                self.disconnect(client)

                continue  # Sleep again



            t = getTimeStamp().value

            az, el = antenna_boss.getApparentCoordinates(t)[:2]

            # TODO: manage exception above, in case the component is no more

            # active

            try:

                az, compl = antenna.observedAzimuth.get_sync()

                el, compl = antenna.observedElevation.get_sync()

                az, el = degrees(az), degrees(el)

            except Exception as ex:

                self.log(

                    f"Cannot get antenna coordinates: {ex}",

                    Management.C_ERROR,

                )

                self.disconnect(client)

                continue  # Sleep again

    

            obs.lat, obs.lon, obs.date = str(lat), str(lon), dt.utcnow()

            sun.compute(obs)

            distance = sqrt((sun.az - az)**2 + (sun.el - el)**2)

            if distance < value:

            sun_az, sun_el = degrees(sun.az), degrees(sun.alt)



            if (diff := abs(sun_az - az)) <= 180:

                delta_az = diff

            else:

                delta_az = 360 - diff



            distance = sqrt(delta_az**2 + (sun_el - el)**2)

            if distance < self.sunLimit:

                try:

                    mount = client.getComponent(mount_name)

                    az_mode, compl = mount.azimuthMode.get_sync()

                    el_mode, compl = mount.elevationMode.get_sync()

                    if str(az_mode) == str(el_mode) == "ACU_STOP":

                        if not stop_notified:

                            self.log(

                                f"Antenna stopped, pointing close to the Sun",

                                Management.C_WARNING,

                            )

                            stop_notified = True

                        continue

                except CannotGetComponentEx as ex:

                    self.log(

                        f"Can not get component {mount_name}",

                        Management.C_WARNING,

                    )

                except Exception:

                    pass



                self.log(f"Supervisor: stopping antenna, pointing close to the Sun")

                self.log(f"Sun(az, el) -> ({sun_az:.2f}, {sun_el:.2f})", Management.C_INFO)

                self.log(f"Ant(az, el) -> ({az:.2f}, {el:.2f})", Management.C_INFO)

                self.log(f"Safe Limit -> {self.sunLimit:.2f}", Management.C_INFO)

                self.log(f"Distance from Sun -> {distance:.2f}", Management.C_INFO)

                try:

                    antenna.stop()

                # Communicate with log and tracking and all possibile ways

                except Exception as ex:

                    self.log(f"Cannot stop the antenna: {ex}")

                    self.disconnect(client)

                    continue  # Sleep again



            if stop_notified:

                self.log(f"Antenna is now pointing at safe distance from the Sun")

            stop_notified = False

            self.disconnect(client)

        print("sunCheck() thread stopped")



            if client.isLoggedIn():

                client.releaseComponent(antenna_name)

                client.releaseComponent(observatory_name)

                client.disconnect()



    def command(self, cmd):

        """Execute the command `cmd`
@@ -189,12 +293,12 @@ class SupervisorImpl(POA, cc, services, lcycle): 
            success = True



        if not success:

            logger.logError(answer)

            self.log(answer, Management.C_ERROR)

            return (success, answer)



        if command not in SupervisorImpl.commands:

            answer = f"Error - command '{command}' does not exist"

            logger.logError(answer)

            self.log(answer, Management.C_ERROR)

            return (False, answer)

        else:

            method_name, types = SupervisorImpl.commands[command]
@@ -203,14 +307,14 @@ class SupervisorImpl(POA, cc, services, lcycle): 
                    f"Error - expecting {len(types)} arguments, {len(args)} given\n" 

                    f"type help({command}) for details"

                )

                logger.logError(answer)

                self.log(answer, Management.C_ERROR)

                return (False, answer)



            try:

                method = getattr(self, method_name)

            except AttributeError as ex:

                answer = f"Error - Supervisor.{method_name}() does not exist"

                logger.logError(answer)

                self.log(answer, Management.C_ERROR)

                return (False, answer)

            try:

                result = method(*[type_(arg) for (arg, type_) in zip(args, types)])
@@ -228,16 +332,16 @@ class SupervisorImpl(POA, cc, services, lcycle): 
                success = True

            except (ValueError, TypeError) as ex:

                answer = f"Error - wrong syntax.\nType help({command}) for details"

                logger.logError(f"{ex.message}\n{answer}")

                self.log(f"{ex.message}\n{answer}", Management.C_ERROR)

                return (False, answer)

            except ComponentErrors.ComponentErrorsEx as ex:

                answer = f"Error - {ex.errorTrace.data}"

                logger.logError(answer)

                self.log(answer, Management.C_ERROR)

                return (False, answer)

            except Exception as ex:

                answer = "Error - {unexpected exception}"

                logger.logError(answer)

                self.log(answer, Management.C_ERROR)

                return (False, answer)



        logger.logInfo(f"command '{command}' executed")

        self.log(f"command '{command}' executed", Management.C_INFO)

        return (success, answer)

Common/Servers/PySupervisor/test/README.rst

+31 −11
Original line number Diff line number Diff line
@@ -2,13 +2,9 @@ 
How to run the tests

********************



Start ACS::

Start ACS and all containers::



   $ acsStart



From the Supervisor directory, start the containers::



   $ bin/supervisor_startcontainers.sh

   $ discosup



Run all tests::
@@ -27,11 +23,35 @@ You can also use coverage:: 


   $ ./run_coverage



To stop the containers::

Stop ACS::



   $ discosdown





Procedure for manual testing

============================

To manually test the antenna stop:



* discos-simulator -start

* discosup

* objexp

* jlog

* AntennaBoss.setup(CCB)

* Mount.changeMode(PRESET, PRESET)



Now, to point close to the Sun, get the current azimuth

and elevation of the Sun (in UTC time), from here:

   

   https://aa.usno.navy.mil/data/index



   $ bin/supervisor_stopcontainers.sh

You should go to section "Positions of Selected Celestial Objects"

and click on "Altitude and Azimuth of the Sun or Moon During One Day".

Set the following lat/Lon: 39.4930, 9.2451. The "hours" in the time

zone section should be "0.0". Now set this values to the mount preset:



To stop ACS::

* Mount.preset(az, el)



   $ killACS

   $ acsStop
 
At some point you should get a message informing that Supervisor is

going to stop the antenna, because it is pointing close to the Sun.

When the pointing is again at safe distance from the Sun, you get

another message.